JP7152370B2 - Field monitoring equipment and field monitoring systems - Google Patents

Description

The present invention relates to a site monitoring device and a site monitoring system.

As a background art of the present invention, there is known a configuration for monitoring a work site such as a construction site to prevent contact between a working machine and a moving obstacle or the like. As a specific example, there are techniques disclosed in Patent Documents 1 and 2.

In Patent Document 1, in order to prevent an obstacle including a person from coming into contact with a work machine, the work machine detects the obstacle and restricts the turning movement according to the positional relationship between the obstacle and the upper revolving body of the work machine. A mechanism for doing so is described.

On the other hand, Patent Literature 2 describes a monitoring device for a no-entry zone (hereinafter referred to as work area) that prohibits people from approaching work machines and the like. According to Patent Document 2, in a monitoring device for a work area surrounded by portable objects (hereinafter referred to as partitions) for identifying the work area, a recognized partition cannot be detected or an intrusion is permitted. A mechanism is described to warn an intruder if a non-attendant is detected within the work area.

JP 2018-199989 A JP 2017-4184 A

However, the conventional technique has a problem that it is impossible to appropriately set the area to be monitored on site. This problem becomes conspicuous especially under the condition that the working environment including the working area changes from moment to moment.

For example, the technique of Patent Literature 1 operates only when other moving machines or people can come into contact with the work machine. At the work site, there is a risk that the work of the work machine will be interrupted frequently.

Further, the technique of Patent Document 2 is based on the premise that color cones and the like are arranged in advance at appropriate positions according to the work area. For this reason, it is not possible to cope with cases where the color cones are not arranged appropriately or where the work area changes from moment to moment.

SUMMARY OF THE INVENTION An object of the present invention is to provide a site monitoring device and a site monitoring system that can appropriately set an area to be monitored.

An example of the on-site monitoring device according to the present invention is
a warning device that outputs a warning;
a partitioning object detection device for detecting the position of the partitioning object;
a boundary input device for receiving input of information representing a boundary on which the partitioning object should be arranged;
a controller;
with
The control device is
For each boundary, the boundary is either a placed boundary in which the partitioning object is placed at a position corresponding to the boundary, or an unplaced boundary in which the partitioning object is not placed at a position corresponding to the boundary. a determination unit that determines whether it is a boundary;
a warning content determination unit that causes the warning device to output the warning when at least one unarranged boundary exists;
Prepare.

According to the site monitoring device and the site monitoring system according to the present invention, it is possible to appropriately set the area to be monitored.

1 is a system block diagram showing the configuration of a field monitoring device according to Embodiment 1 of the present invention; FIG. An example of a working environment according to the first embodiment. A definition example of the coordinate system in FIG. An example of a warning output by the warning device. The configuration of the working machine according to the second embodiment. FIG. 2 is a system block diagram showing the configuration of a site monitoring system according to a second embodiment; FIG. 7 is a flowchart for explaining an example of processing executed by the site monitoring system of FIG. 6; FIG. 8 is a flowchart for explaining an example of processing for setting operation restrictions in step 411 of FIG. 7; FIG. An example of the motion of the movable part relative to the undeployed boundary in step 411 of FIG.

Embodiments of the present invention will be described below with reference to the accompanying drawings.
[Example 1]
FIG. 1 is a system block diagram showing the configuration of a site monitoring device according to Embodiment 1 of the present invention. The site monitoring device is a device for monitoring the boundary of the work area and outputting a warning when a partitioning object (such as a triangular cone) is not placed. The site monitoring device includes a work area input device 101 , a surrounding object detection device 102 , a control device 103 and a warning device 104 . The control device 103 includes a partition information storage unit 105 , a work area boundary calculation unit 106 , an operational environment determination unit 107 and a warning content determination unit 108 .

The work area input device 101 receives input of work areas. A work area means an area to be monitored on-site, for example, a topographical area where on-site work or the like is performed. In addition, in this embodiment, the work area input device 101 functions as a boundary input device that receives input of information representing at least a boundary on which a partition object should be arranged among these boundaries.

FIG. 2 shows an example of a working environment according to the first embodiment. A working machine 501 is arranged inside the working area 504 . Working area 504 is a polygon, a rectangle defined by vertices A, B, C, and D in the example of FIG. For this reason, FIG. 2 shows four boundaries, each defined as a line segment of sides AB, BC, CD and DA. FIG. 2 also shows the front, rear, left, and right directions with respect to the work machine 501 .

In the example of FIG. 2, the working area is represented in two-dimensional form, each boundary corresponding to a line segment, but the working area may be represented in three-dimensional form, in which case each boundary corresponds to a plane segment. good too. When represented in a three-dimensional format, for example, the boundary corresponding to the side AB can be a surface segment including the side AB and its vertically upward area.

FIG. 3 shows a definition example of the coordinate system in FIG. In the example of FIG. 3, the origin of the coordinate system coincides with vertex D, the X axis is parallel to side CD, and the direction in which vertex C is present is positive. The Y-axis is parallel to the side DA, and the direction in which the vertex A is located is positive.

Moreover, the method of defining the coordinate system is arbitrary. In the example of FIG. 3, a coordinate system fixed with respect to the work site (work site coordinate system) is used. Alternatively, other coordinate systems may be used. Furthermore, although two-dimensional coordinates are used in the example of FIG. 3, three-dimensional coordinates may be used, in which case the vertical upward direction of the Z-axis may be positive.

Information representing each boundary includes, for example, information representing the positions of both ends of the boundary (for example, two-dimensional coordinate values) when the boundary is a line segment. As a specific example, the position of vertex A is coordinates (0, d), the position of vertex B is coordinates (w, d), the position of vertex C is coordinates (w, 0), and the position of vertex D is are coordinates (0,0). However, both d and w are positive real numbers. In this case, the positions of both ends of the side AB are input to the work area input device 101 as {(0, d), (w, d)}. The same applies to other sides.

Note that, in reality, the work area 504 is not a plane but a three-dimensional space having a height, and each boundary is not a line segment but a surface segment extending in the vertical direction. It is assumed that it can be represented on a projected figure (that is, by two-dimensional coordinates). Note that the coordinates may be expressed in three dimensions.

Work machine 501 operates without going out of work area 504 . Therefore, while a person (including a person and an obstacle, etc.; the same shall apply hereinafter) is outside the work area 504, there is no possibility of contact between the person, etc. and the work machine 501 .

These boundaries are classified into boundaries where partitioning objects should be placed and boundaries where such partitioning objects are not required. However, at least one of the boundaries is the boundary on which the partitioning object should be placed. In the example of FIG. 2, side AB and side BC face worker passage 502 and are boundaries through which people can freely pass. Since there is a possibility that a person or the like may enter such a boundary by mistake, a partitioning object should be arranged to prevent this. On the other hand, there are walls 503 on the sides CD and DA, and since the walls 503 prevent people from entering, there is no need to arrange partitions. Whether or not each boundary is a boundary on which a partitioning object should be placed can be determined appropriately by the user of the field monitoring device or the like depending on the situation.

In the example of FIG. 2, three partition bodies 512 are arranged. The partitioning object 512a is arranged at the vertex B, the partitioning object 512b is arranged on the side BC, and the partitioning object 512c is arranged at the vertex C. Although the configuration of the partitioning body is arbitrary, for example, a known triangular cone may be used.

In the example of FIG. 2, the partitioning object 512 is properly placed on side BC, but is not placed around the center of side AB, which is considered inappropriate. Therefore, the site monitoring device according to the present embodiment detects that the partitioning object 512 is not arranged on the side AB, and prompts the appropriate arrangement of the partitioning object 512 by issuing a warning.

The peripheral object detection device 102 detects partitioning objects 512 placed around the work site. The peripheral object detection device 102 can be configured using image recognition technology, for example, and as a specific example, can be configured by combining a stereo camera and a GNSS (Global Navigation Satellite System). Alternatively, it can be configured using ranging technology (LIDAR, etc.) or RF technology (RFID tag, etc.).

The peripheral object detection device 102 may be configured as a partitioning object detection device that detects only specific partitioning objects 512 . In that case, the partition information holding unit 105 may be omitted. Alternatively, the peripheral object detection device 102 may be configured as an object detection device that detects various objects other than the partition object 512 . In that case, information for identifying the partitioning object 512 from among various objects may be stored in the partitioning information holding unit 105 . Examples of information for identifying the partitioning object 512 include the shape, color, and the like of the partitioning object 512 . By using such a partition information holding unit 105, the shape, color, etc. of an object to be used as the partition object 512 can be flexibly selected.

A control device 103 controls the operation of the site monitoring device. The control device 103 has a configuration as a known computer including, for example, computing means and storage means. A program that defines the operation of the control device 103 may be stored in the storage means of the control device 103 . In that case, the computing means of the control device 103 may execute this program, thereby enabling the control means to implement the functions described herein. When the control device 103 is composed of a plurality of computers, each of them may have the configuration described above.

The arrangement place of the control device 103 is arbitrary. It may be mounted on the work machine 501, fixed and installed at the work site, or configured to be portable. In addition, they may be distributed and arranged in a plurality of places.

Warning device 104 outputs a warning. The warning includes information indicating, for example, that the divider object 512 is not properly positioned at the boundary of the work area 504 . The location of the warning device 104 is arbitrary. For example, it may be mounted on the work machine 501, carried by a worker at the work site, or placed at the work site.

FIG. 4 shows an example of warning output by the warning device 104 . In this example, the warning is a screen display on a display device such as a monitor. In this example, the position of each boundary is displayed, and it is indicated that the partitioning object 512 does not exist on the boundary corresponding to the side AB. You can tell when it's not properly placed.

When installed on work machine 501 , warning device 104 may be configured as a monitor for the operator of work machine 501 . When carried by an operator, it can be configured as a monitor for an information terminal. When arranged at a work site, it can be fixedly installed at a predetermined location. By arranging the warning device 104 in this manner, the warning can be reliably transmitted. The form of the warning to be output is arbitrary, and may include, for example, display of a symbol, graphic or message by a display device, playback of a warning sound or message by an audio output device, or electronic signal by a communication device. may include the transmission of

The partition information storage unit 105 may store information for identifying the partition object 512 as described above.

The work area boundary calculation unit 106 extracts the boundary on which the partitioning object 512 should be arranged from among the boundaries of the work area. For example, in the example of FIG. 2, out of the sides AB, BC, CD, and CD, which are the boundaries of the work area 504, the sides AB and BC are extracted as the boundaries on which the partitioning object 512 should be placed.

By providing the work area boundary calculator 106, the user of the field monitor can define the boundary more flexibly. For example, after entering the rectangle ABCD as the working area, one can specify to exclude sides CD and DA where walls exist.

Here, the information required by the work area boundary calculation unit 106 to distinguish the boundary where the partitioning object 512 should be placed and the boundary where it should not be provided can be provided in any configuration. For example, the site monitoring system may store information representing a construction plan, and the construction plan may include the position of the wall 503, in which case the work area boundary calculator 106 may automatically The position of the wall 503 can be acquired in real terms. Alternatively, the site monitor user may specify whether or not walls exist on each side. In the example of FIG. 2, since walls exist on sides CD and DA, it is determined that there is no need to place the partitioning object 512 on these boundaries.

The operating environment determination unit 107 functions as a determination unit that determines whether or not the partitioning object 512 is arranged at a position corresponding to each boundary on which the partitioning object 512 should be arranged. Hereinafter, in this specification, when the partitioning object 512 is arranged at a position corresponding to a certain boundary, that boundary is referred to as an "arranged boundary". object 512 is not placed), the boundary may be referred to as an "unplaced boundary".

The following is an example in which the position of the boundary and the partitioning object 512 is represented by two-dimensional coordinates, but it can also be appropriately extended to the case of representing by three-dimensional coordinates. For example, the Z coordinate may simply be ignored and calculations may be performed using only the XY coordinates.

Here, the criterion can be arbitrarily designed, but for example, it may be based on whether or not there is a partitioning object 512 in the vicinity of both ends of the boundary (for example, within a predetermined distance from both ends). This predetermined distance can be arbitrarily set by a person skilled in the art or a user of the field monitoring device.

In the example of FIG. 2, since the partitioning object 512 does not exist near the vertex A for the side AB, it is determined that the side AB is an unarranged boundary. On the other hand, with respect to side BC, the partitioning object 512a exists near the vertex B and the partitioning object 512c exists near the vertex C, so the side BC is determined to be the arranged boundary. (Since the side CD and the side DA are not the boundaries on which the partitioning object 512 should be arranged as described above, they are not subject to processing by the operating environment determination unit 107 in this embodiment.)

In addition to such partitioning objects 512 near both ends of the boundary, partitioning objects 512 at positions other than both ends may be taken into consideration. For example, in addition to the partitioning objects 512 being arranged near both ends, if the partitioning objects 512 are arranged at positions other than the vicinity of both ends, the boundary is determined to be the arranged boundary. may

A specific determination method for this "position excluding the vicinity of both ends" (hereinafter simply referred to as "near the center" for simplicity) can be designed arbitrarily, but for example, it can be as follows. First, among all the partitioning objects 512, those existing in the vicinity of the edge of any boundary are excluded. For each of the remaining partition objects 512, identify the closest boundary. For example, in the case of the partitioning object 512b in FIG. 2, the closest boundary is the side BC. Then, if the partitioning object 512 is located within a predetermined distance from the boundary or is located outside the work area 504, the partitioning object 512 is placed at a position other than near both ends of the boundary. is determined to be

According to such a determination method, different determination criteria can be used for the partitioning objects 512a and 512b near both ends and for the partitioning object 512c near the center. That is, the partitioning objects 512a and 512b near both ends need to be arranged near both ends, but the partitioning object 512c near the center can be arranged regardless of the distance to both ends and even if it is positioned outside the area. good. However, according to the above criteria, the partitioning object 512c near the center must not be located inside the region. In this way, it is possible to make strict judgments at both ends and to make judgments with margins on the safe side near the center.

The warning content determining unit 108 causes the warning device 104 to output a warning when there is at least one unarranged boundary. The content of the warning is, for example, as shown in FIG. 4, and in this example includes information for identifying unplaced boundaries. That is, from the display as shown in FIG. 4, it can be identified that the side AB is an unarranged boundary, but the other boundaries are not. With such warning contents, the place where the partitioning object 512 should be placed can be quickly grasped.

As described above, according to the site monitoring apparatus according to the first embodiment of the present invention, it is determined whether or not a partition, which is a known object, is installed at the boundary of the work area. If the partition is not installed, a warning is output so that the work site worker can be prompted to install the partition.

In particular, the boundary of the work area can be input as appropriate, and the partitioning object 512 can be monitored based on this, so the area to be monitored on site can be appropriately set. In particular, even if the work area changes from moment to moment, it can be handled by inputting new boundary information each time.

In Example 1, the site monitoring device can function independently even when the work machine 501 is not placed at the work site. However, the site monitoring device and work machine 501 may constitute a site monitoring system.

[Example 2]
In Example 2, the site monitoring device and the working machine 501 cooperate to constitute a site monitoring system.
FIG. 5 shows the configuration of a working machine 501 according to the second embodiment. In this example, work machine 501 is a shovel. Work machine 501 includes bucket 201 , arm 202 , boom 203 , cab 204 , upper rotating body 205 and lower traveling body 206 . FIG. 5 also shows the front-rear and up-down directions with respect to the working machine 501 . The front-rear direction in FIG. 5 corresponds to the front-rear direction in FIG. Cab 204 may be configured as part of upper rotating body 205 .

Work machine 501 includes an operation lever and an operation amount detection device (for example, operation amount detection device 301 shown in FIG. 6) that detects the operation amount of the operation lever. The operating lever is mounted, for example, on cab 204, and an operator of work machine 501 can operate a plurality of actuators in a plurality of operating directions by operating the operating lever. Specifically, bucket 201 crowding and dumping, arm 202 crowding and dumping, boom 203 raising and lowering, upper rotating body 205 turning right and left, lower traveling body 206 moving forward, backward, turning left and turning right. , etc. can be manipulated.

Work machine 501 includes an actuator, a directional control valve, and a pilot pressure control valve. The actuator includes a spool and moves a moving part (eg, bucket 201) of work machine 501 in multiple directions of motion. The directional control valve controls the supply and discharge of pressure oil to and from the actuator according to the spool position. A pilot pressure control valve controls the pilot pressure applied to the spool.

The operating direction of the operating lever corresponds to the operating direction of the actuator, and the inclination of the operating lever corresponds to the pilot pressure corresponding to the operating direction of the actuator. As the pilot pressure increases, the spool position of the directional control valve shifts more, and the flow rate of pressure oil supplied to the actuator increases in the direction corresponding to the spool position.

A plurality of pilot pressure control valves may be arranged for one actuator, and each pilot pressure control valve is provided on both sides (or both ends) of the spool to move the spool in a direction corresponding to the operating direction of the actuator. Controls the applied pilot pressure.

In addition, in order to prevent the operator from inadvertently touching the operation lever during non-work and unintended machine operation, the work machine 501 can be set to a state in which the operation lever is not operated. may be That is, the work machine 501 can be in either an operable state in which it can be operated by operating the operating lever, or a work standby state in which it cannot be operated by operating the operating lever.

The work machine 501 may transition from the operable state to the work standby state in response to a predetermined disabling operation for disabling the operation of the control lever. For example, cab 204 may be equipped with a shutoff lever. The shut-off lever has two positions, a pilot pressure shut-off position and a shut-off position. When the operator moves the shut-off lever to the pilot pressure shut-off position, the work machine 501 is in a work standby state, and the operation lever is released. operation is disabled. On the other hand, when the shut-off lever is at the shut-off release position, the working machine 501 is in an operable state, and the excavator operates according to the operation of the operating lever.

FIG. 6 is a system block diagram showing the configuration of the site monitoring system according to the second embodiment. The site monitoring system includes an operation amount detector 301, a pilot pressure control valve 302 (two 302a and 302b in this example), a machine position detector 303, a work standby state detector 304, and a work area input device 305. , a boundary selection device 306 , a surrounding object detection device 307 , a control device 308 , a warning device 309 , an attitude detection device 320 , a direction control valve 330 and an actuator 331 .

The control device 308 includes a work area boundary calculation unit 310, a partition information holding unit 311, an operating environment determination unit 312, a warning content determination unit 313, an operation amount output calculation unit 314, an output unit 315, and a current generation unit. 316 , a judgment command section 317 , and an output limit determination section 318 . Controller 308 controls the operation of the site monitoring system. The control device 308 has a configuration as a known computer including, for example, calculation means and storage means. A program that defines the operation of the control device 308 may be stored in the storage means of the control device 308 . In that case, the computing means of the control device 308 may execute this program so that the control means implements the functions described herein. If the controller 308 is composed of multiple computers, each of them may have the configuration described above.

Arrangement of each component is arbitrary, but for example, an operation amount detection device 301, a machine position detection device 303, a work standby state detection device 304, an attitude detection device 320, a pilot pressure control valve 302, a directional control valve 330, and an actuator. 331 is mounted on the working machine 501 . Also, for example, the work area input device 305, the boundary selection device 306, the peripheral object detection device 307, and the warning device 309 are installed at the work site to constitute a site monitoring device. As in the first embodiment, the arrangement of the warning device 309 can be changed arbitrarily.

A part of the control device 308 is mounted on the work machine 501, and another part is installed at the work site as a part of the site monitoring device, for example. As a more specific example, the operation amount output calculation unit 314, the output unit 315, and the current generation unit 316 are mounted on the work machine 501, and the work area boundary calculation unit 310, the partition information holding unit 311, and the operation The environment determination unit 312, the warning content determination unit 313, the determination command unit 317, and the output limitation determination unit 318 are installed at the work site and constitute a site monitoring device.

In addition, when the control device 308 is installed in a plurality of locations, a communication network for transmitting and receiving information between each element, a program for transmitting and receiving information, etc. may be provided. . This can be achieved, for example, using known wireless communication techniques.

In Example 2 (FIG. 6), components having the same names as those in Example 1 (FIG. 1) may have the same configurations and the same functions. That is, the work area input device 305, the surrounding object detection device 307, the warning device 309, the work area boundary calculation unit 310, the partition information storage unit 311, the operating environment determination unit 312, and the warning content determination unit 313 in FIG. Same configuration and same as work area input device 101, surrounding object detection device 102, warning device 104, work area boundary calculation unit 106, partition information storage unit 105, operating environment determination unit 107, and warning content determination unit 108 in FIG. may have the function of Further, additional functions may be provided. For example, the work area boundary calculation unit 310, the operating environment determination unit 312, and the warning content determination unit 313 may transmit/receive information to/from other components of the control device 308. may be configured.

FIG. 7 is a flowchart illustrating an example of processing executed by the site monitoring system according to the second embodiment. The process begins at step 401 in response to the site monitoring system receiving input of information representing the boundary where the partition object 512 should be located.

For example, as described in Embodiment 1 with reference to FIGS. 2 and 3, information about sides AB, BC, CD, and CD that are boundaries of work area 504 are input. After that, the boundary selection device 306 receives input of information for selecting boundaries (for example, sides AB and BC) on which the partitioning object 512 is to be arranged from among these sides, and supplies this to the work area boundary calculation unit 310. Send. Based on this information, the work area boundary calculator 310 extracts the sides AB and BC from among the sides AB, BC, CD, and CD as the boundaries on which the partitioning object 512 should be placed.

The information input work here may be performed by the operator of the work machine 501, or may be performed by a worker or the like other than the operator according to the work environment of the work site.

By providing the boundary selection device 306 and the work area boundary calculator 310, each boundary of the work area 504 and, among them, the boundary where the partitioning object 512 should be arranged can be separately input. It can be defined more flexibly.

However, it is also possible to omit the boundary selection device 306 . If the boundary selection device 306 is not provided, the work area boundary calculator 310 may extract all the boundaries of the work area 504 as the boundaries on which the partitioning objects 512 should be placed.

The subsequent steps 402 to 406 are processes executed by the judgment command section 317 . In step 401, the determination command unit 317 causes the operating environment determination unit 312 to execute determination processing in response to the information representing the boundary being input by the work area input device 101. FIG. As will be described below, steps 402-406 allow appropriate determination processing to be performed in accordance with various situations. For example, the presence or absence of the partitioning object 512 can be determined according to the frequency with which the installation of the partitioning object 512 is changed or the situation in which the partitioning object 512 is important. As a result, it is possible to prevent the operator from being bothered by unnecessarily frequent judgments and frequent warnings.

After step 401 , in step 402 , the field monitoring system determines whether work machine 501 is located within work area 504 . It is during operation of work machine 501 within work area 504 that divider object 512 is needed. Therefore, if the work machine 501 is positioned outside the work area 504, it can be considered that there is no need to determine whether or not the partition object 512 exists. According to step 402, unnecessary determination processing can be omitted in such a case.

Determining whether work machine 501 is located within work area 504 can be done in any manner. For example, the site monitoring system (for example, work area boundary calculator 310) may calculate a normal vector that is perpendicular to each boundary and positive in the inner direction of work area 504. FIG. Here, a normal vector N _AB =(0,-1) is calculated for the side AB, and a normal vector N _BC =(-1,0) is calculated for the side BC. Thus, information about each boundary can be represented by a set of coordinates of one end of the line segment, coordinates of the other end of the line segment, and a normal vector of the line segment. When using three-dimensional coordinates, the normal vector is also calculated three-dimensionally.

When the normal vector is used in this way, the following method can be used as an example of the determination method. First, for each boundary, the inner product of the vector from the position of work machine 501 to the midpoint of the boundary and the normal vector of the boundary is calculated. Then, the sign of the inner product is determined for each boundary. Work machine 501 is determined to be located within work area 504 if the inner product is negative (which may include the case where it is 0) for all boundaries. On the other hand, if the inner product for any boundary is positive (may include the case where it is 0), it is determined that work machine 501 is not located within work area 504 .

This determination method is an example, and other methods may be used. In particular, if the work area 504 is input as a closed figure, a method for determining the inside and outside of the work area 504 can be appropriately designed using a known algorithm or the like. Further, when inputting the information representing the boundaries in step 401, the normal vector of each boundary may also be input.

Note that when the work area 504 is represented by a coordinate system fixed with respect to the work site as in this embodiment, even if the machine position detection device 303 detects the position of the work machine 501 in the coordinate system, good. The mechanical position detection device 303 may acquire the vehicle body position using, for example, GNSS (Global Navigation Satellite System). On the other hand, if the work area 504 is defined by the relative positional relationship with the work machine 501, the position of the work machine 501 may be self-evident, and in such a case, the machine position detection device 303 is omitted. It is possible.

If it is determined in step 402 that work machine 501 is not located within work area 504 , processing proceeds to step 412 . In this case, the determination command unit 317 does not cause the operating environment determination unit 312 to perform determination processing (step 408 described later). Then, in step 412, the site monitoring system releases warnings and operational restrictions. That is, the warning output by the warning device 309 is canceled (that is, the warning is not output), and the operation limitation of the working machine 501 (described later with respect to step 411) is lifted. For example, the same processing as the processing in step 704 described later is executed.

On the other hand, if it is determined in step 402 that the work machine 501 is located within the work area 504, then in step 403 the determination command section 317 determines whether or not the boundary has been changed. For example, determination command unit 317 monitors the outputs of work area input device 305 and boundary selection device 306 to determine whether work area 504 has been changed since step 403 was last executed, or whether work area 504 has been partitioned by a partition object. If the boundary on which 512 should be placed has changed, it is determined that the boundary has changed.

If the boundary has been changed, processing proceeds to step 407, described below. In this case, the determination command unit 317 causes the operating environment determination unit 312 to execute determination processing (step 408 described later). When the boundary is changed, the partitioning object 512 may need to be moved. In such a case, the determination process can be reliably executed (or re-executed).

If it is determined in step 403 that the boundary has not been changed, in step 404 the determination command unit 317 determines that the operation amount will increase after a predetermined time based on the operation amount detected by the operation amount detection device 301. Determine whether or not For example, a state in which the operation amount is equal to or less than a predetermined threshold (including a stopped state) continues for a predetermined time or longer, and the operation amount thereafter reaches a predetermined threshold (these two types of thresholds may not necessarily be the same). ), it is determined that there is an increase in the manipulated variable after the predetermined time, and if not, it is determined that there is no increase in the manipulated variable after the predetermined time.

If it is determined that there is an increase in the manipulated variable after the predetermined time, the process proceeds to step 407, which will be described later. In this case, the determination command unit 317 causes the operating environment determination unit 312 to execute determination processing (step 408 described later). According to such processing, the presence or absence of the partition object 512 is determined when the work machine 501 starts to move larger or faster from a state of small movement or slow movement. Since the worker tends to approach the work machine 501 whose movement is small or slow, there is a high possibility of contact with the worker immediately after the work machine 501 starts to move large or at high speed, but the determination in step 404 indicates that such a case will occur. Appropriate warnings can be given in such cases.

If it is determined in step 404 that there is no increase in the operation amount after the predetermined time, the determination command section 317 determines in step 405 whether or not the shutoff lever has moved from the pilot pressure cut-off position to the cut-off position. judge. That is, it is determined whether or not work machine 501 has transitioned from the work standby state to the operable state. As a more specific example, when the work machine 501 was in the work standby state when step 405 was executed last time, and when the work machine 501 was in the operable state when step 405 was executed this time, determines that the work machine 501 has transitioned from the work standby state to the operable state. Otherwise (i.e., work machine 501 was in an operational state the last time step 405 was performed, or work machine 501 was in a work standby state when step 405 was performed this time), then: It is determined that there is no transition.

If it is determined that work machine 501 has transitioned from the work standby state to the operable state, the process proceeds to step 407, which will be described later. In this case, the determination command unit 317 causes the operating environment determination unit 312 to execute determination processing (step 408 described later). According to such processing, the presence/absence of the partition object 512 is determined when the working machine 501 starts moving from a stopped state. Since the worker is more likely to approach the stopped work machine 501 than the working machine 501, the possibility of contact with the worker increases immediately after the work machine 501 starts to move. Appropriate warnings can be given in such cases.

If it is determined in step 405 that there is no transition, determination command section 317 determines in step 406 whether work machine 501 has moved from outside work area 504 into work area 504 . For example, if work machine 501 was outside work area 504 the last time step 406 was performed and work machine 501 was inside work area 504 the next time step 406 was performed, then work machine 501 501 is determined to have moved from outside the work area 504 into the work area 504 . Otherwise (work machine 501 was within work area 504 the last time step 406 was performed or work machine 501 was outside work area 504 the time step 406 was performed this time), Determine not to move.

If it is determined that work machine 501 has moved from outside work area 504 into work area 504, the process proceeds to step 407, which will be described later. In this case, the determination command unit 317 causes the operating environment determination unit 312 to execute determination processing (step 408 described later). According to such processing, the determination is made when the work machine 501 enters the work area 504 where a person or the like is already present, so a warning can be issued at an appropriate time.

On the other hand, if it is determined in step 406 that work machine 501 has not moved from outside work area 504 into work area 504 , the process proceeds to step 412 . In this case, the determination command unit 317 does not cause the operating environment determination unit 312 to perform determination processing (step 408 described later). Then, in step 412, the site monitoring system releases warnings and operational restrictions as described above.

In step 406, it may be determined whether work machine 501 has moved from outside work area 504 into work area 504 for the first time. That is, after step 406 once branches to step 407 , step 406 may always branch to step 412 regardless of the movement of work machine 501 .

In this way, according to steps 402 to 406, the determination command unit 317 instructs or omits the instructions to the operating environment determination unit 312 according to various conditions, so flexible determination processing is possible. In particular, it is possible to prevent the operator from being bothered by unnecessarily frequent judgments and frequent warnings. In addition, since it is possible to define work target detection conditions in more detail than in the prior art, it is possible to reduce the adverse effects of changes in the monitoring environment.

At step 407 , the peripheral object detection device 307 detects the position of the partition object 512 . At this time, the peripheral object detection device 307 may acquire necessary information from the partition information holding unit 311 .

Next, in step 408, the operating environment determination unit 312 determines whether the boundary is a placed boundary (a boundary in which the partitioning object 512 is placed at the corresponding position) or an unplaced boundary. It is determined whether it is (a boundary where the partitioning object 512 is not arranged at the corresponding position). This determination is performed, for example, in the same manner as the operating environment determination unit 107 of the first embodiment.

At step 408 , if all boundaries are placed boundaries, processing proceeds to step 412 . At step 412, the site monitoring system releases warnings and operational restrictions as described above.

If there is at least one unplaced boundary, processing proceeds to step 409 . In step 409 , the operational environment determination section 312 extracts information on the unplaced boundary and outputs it to the warning content determination section 313 and the output restriction determination section 318 . For example, if the side _AB is determined to be an unarranged boundary, a set of the coordinates of the vertex A, the coordinates of the vertex B, and the normal vector NAB is output.

Next, in step 410 , the warning content determination unit 313 determines the warning content to be output by the warning device 309 . As a result, for example, a warning as shown in FIG. 4 is output.

Next, at step 411, the operating limits for work machine 501 are set. Motion limits are limits to the motion of at least some of the actuators. By setting the operation limit, the operator of the work machine 501 can be strongly urged to install the partitioning object 512 .

In the working machine 501, a person skilled in the art can arbitrarily design which actuator operation is restricted, which operation of each actuator is restricted, and how each operation is restricted. An example will be described below. do.

Posture detection device 320 detects the posture of work machine 501 . Posture detection device 320 can calculate angles and the like of each joint based on predetermined mechanism information (for example, stored in advance) and information obtained from sensors such as potentiometers and IMUs (Inertial Measurement Units). . The posture of work machine 501 is represented, for example, by the positions of one or more movable parts. The movable part is, for example, the bucket 201 in FIG. 5, but is not limited to this, and may include the upper rotating body 205 (or its specific portion, for example, the rear end).

Also, the posture of work machine 501 may include the state of the part that supports the movable part. For example, it may include the position and orientation of arm 202, boom 203, upper swing structure 205, undercarriage 206, etc. of FIG.

An operation amount output calculation unit 314 determines an output value for each pilot pressure control valve based on the operation amount of the operation lever. Then, the output limit determination unit 318 determines whether or not this output value moves the movable part in a direction approaching the unarranged boundary. This determination can be performed based on the operating direction of the operating lever and the attitude of work machine 501 . In this embodiment, the operation limit of the work machine 501 is set when the movable part moves in the direction approaching the unarranged boundary.

Here, a person skilled in the art can appropriately design the specific processing for setting the motion limit based on the movement of the movable portion with respect to the unarranged boundary, but one example will be described with reference to FIGS. 8 and 9. FIG.
FIG. 8 is a flow chart illustrating an example of processing for setting operation restrictions in step 411 . FIG. 9 is a diagram showing an example of motion of the movable part 901 with respect to the unarranged boundary 902. FIG. The movable part 901 is the bucket 201 of FIG. 5 in the example of FIG.

The process of FIG. 8 begins at step 701 . At step 701 , the output limit determining section 318 identifies the boundary closest to the movable section 901 among the unarranged boundaries. For example, based on the information acquired from the mechanical position detection device 303 and the attitude detection device 320, the coordinates of the movable part 901 are calculated, and the distance to each unarranged boundary is calculated. As a result, the unarranged boundary closest to the movable part 901 is identified as the unarranged boundary 902 . Note that this distance calculation may be performed two-dimensionally or three-dimensionally. In a three-dimensional case, the boundary can be a surface segment rising vertically from each side.

At step 702 , output limit determination section 318 calculates the speed of movable section 901 with respect to the boundary identified at step 701 . The speed is represented by, for example, a two-dimensional or three-dimensional vector, and can be calculated based on predetermined fixed information (such as information unique to the vehicle body mechanism), the amount of operation of the operating lever, and the attitude of work machine 501 .

In the example of FIG. 9, it is assumed that two types of motions, arm dumping and boom raising, are combined, and the velocity of the movable part 901 is expressed as a composite vector of velocity vectors generated by the motions of a plurality of actuators. For example, the angular velocity of the arm is estimated from the amount of operation of the control lever that dumps the arm, and the velocity vector Va given to the movable part 901 by the arm dumping operation is calculated based on this angular velocity and posture information. On the other hand, the rotation angular velocity for raising the boom is estimated from the operation amount of the operation lever for raising the boom, and the velocity vector Vb given to the movable part 901 by the boom raising operation is calculated based on this rotation angular velocity and the posture information. A velocity vector V obtained by synthesizing these velocity vectors Va and Vb is the velocity vector of the movable portion 901 .

At step 703 , it is determined whether or not the movable portion 901 moves toward the unarranged boundary 902 . This can be determined, for example, using the inner product of the vectors. As a specific example, if the inner product of the velocity vector V of the movable part 901 and the normal vector N of the unarranged boundary 902 (however, the one facing the inside of the work area 504) is negative, the movable part 901 is not arranged. It is determined that the movable part 901 moves toward the boundary 902 , and if the inner product is 0 or more, it is determined that the movable part 901 does not move toward the unarranged boundary 902 .

In this way, the output limit determination unit 318 determines whether or not the output value determined by the operation amount output calculation unit 314 moves the movable unit 901 in a direction approaching the unarranged boundary 902 or not. It is determined based on the operation direction and the posture.

If the movable part 901 does not move toward the unarranged boundary 902 , in step 704 , the output restriction determination unit 318 releases the motion restriction for all actuators involved in the motion of the movable part 901 . This is done, for example, by setting the output upper limit value to a predetermined value Pmax (for example, the rated value or maximum output value of the actuator). Note that the value of Pmax may differ for each pilot pressure control valve. In the example of FIG. 9, the output of the arm dump operation is possible up to Pamax, and the output of the boom raising operation is possible up to Pbmax.

On the other hand, when the movable part 901 moves toward the unarranged boundary 902 , in step 705 , the output limit determination unit 318 sets motion limits for all actuators involved in the motion of the movable part 901 . This is done, for example, by setting the output upper limit value to a predetermined value Plimit (where 0≦Plimit<Pmax). Note that the value of Plimit may differ for each pilot pressure control valve. In the example of FIG. 9, the arm dump operation is limited to the output Palimit or less, and the boom raising operation is limited to the output Pblimit or less.

Thus, in step 411, operational restrictions are set or lifted. Output unit 315 outputs a control command for each pilot pressure control valve to current generation unit 316 based on the output upper limit value determined in step 704 or 705 . In particular, if the output value determined by the operation amount output calculation unit 314 does not move the movable part 901 in a direction approaching the unarranged boundary 902, or if the output value determined by the operation amount output calculation unit 314 If it is equal to or less than the value Plimit, the control command is output based on the output value determined by the manipulated variable output calculation unit 314 . On the other hand, if the output value determined by the manipulated variable output calculation unit 314 moves the movable part 901 in a direction approaching the unarranged boundary 902 and the output value exceeds the predetermined value Plimit, A control command is output based on a predetermined value Plimit. The current generator 316 receives this control command and generates current for driving the pilot pressure control valve according to the control command.

Here, if a person or the like exists within the work area 504 , there is a high possibility that the person or the like is between the movable part 901 and the closest unarranged boundary 902 . According to the present embodiment, the moving part 901 can limit the speed toward the nearest unarranged boundary 902, so that contact between the moving part 901 and a person can be prevented more reliably.

[Other Modifications]
The following modifications can be applied to the first and second embodiments described above.
In the second embodiment, at step 411, the motion limitation is set according to the moving direction of the movable portion. As a modification, the motion limit may be set regardless of the moving direction of the movable part. More specifically, when there is an unarranged boundary, the output upper limit value may always be set to the predetermined value Plimit. That is, in this modification, if there is no unarranged boundary or if the output value determined by the manipulated variable output calculation unit 314 is equal to or less than Plimit, the output unit outputs a control command based on the output value. On the other hand, when there is at least one unarranged boundary and the output value determined by the manipulated variable output calculation unit 314 exceeds Plimit, a control command is output based on Plimit It will be. Although the flowchart in this case is not particularly shown as an independent diagram, it can be configured only by step 705 in FIG.

In the second embodiment, if some processes are omitted, the configuration corresponds to the first embodiment. For example, steps 401, 407 to 410, 412 in FIG. 7 constitute the processing of the first embodiment.

In Embodiments 1 and 2, the work area input devices 101 and 305 accept input of information representing not only the boundary where the partitioning object 512 should be placed, but all boundaries. As a modified example, the work area input device may accept input only for the boundary on which the partition object should be placed. In this case, the work area boundary calculators 106 and 310 and the boundary selector 306 can be omitted.

The contents of the warning are not limited to those shown in FIG. For example, it may not include information identifying boundaries. Even a mere message or warning sound indicating that the partitioning object is not properly arranged can prompt reconfirmation of the arrangement of the partitioning object.

The decision command section need not be configured as a single component. In the example of the second embodiment (FIG. 7), a single determination commanding unit 317 performs all determinations in steps 402 to 406, but as a modification, each independent determination commanding unit corresponding to steps 402 to 406 individually may be configured.

101, 305... work area input device (boundary input device)
102, 307... Peripheral object detection device (partition object detection device, object detection device)
103, 308... Control device 104, 309... Warning device 105, 311... Partition information holding unit 106, 310... Work area boundary calculation unit 107, 312... Operation environment determination unit (determination unit)
108, 313... Warning content determination unit 201... Bucket (movable part)
202... Arm (movable part)
203 ... Boom (movable part)
204... cab 205... upper revolving body (movable part)
206 ... Lower running body (movable part)
301 operation amount detection device 302 (302a, 302b) pilot pressure control valve 303 machine position detection device 304 work standby state detection device 306 boundary selection device 314 operation amount output calculation unit 315 output unit 316 current generation Part 317... Judgment command part 318... Output limit determination part 320... Attitude detection device 330... Direction control valve 331... Actuator 501... Working machine 502... Worker passage 503... Wall 504... Work area 512 (512a, 512b, 512c)... Partitioning object 901 Movable part 902 Unarranged boundary AB, BC Sides (borders on which partitioning objects should be arranged)
CD, DA... side (boundary)
N...Boundary normal vector V...Velocity vector

Claims (13)

a warning device that outputs a warning;
a partitioning object detection device for detecting the position of the partitioning object;
a boundary input device for receiving input of information representing a boundary on which the partitioning object should be arranged;
a controller;
with
The control device is
For each boundary, the boundary is either a placed boundary in which the partitioning object is placed at a position corresponding to the boundary, or an unplaced boundary in which the partitioning object is not placed at a position corresponding to the boundary. a determination unit that determines whether it is a boundary;
a warning content determination unit that causes the warning device to output the warning when at least one unarranged boundary exists;
comprising
Field monitoring equipment. The field monitoring device according to claim 1,
The control device is
A site monitoring apparatus comprising a determination command section that causes the determination section to execute determination processing in response to input of the information representing the boundary by the boundary input device. The field monitoring device according to claim 1,
The boundary input device is a work area input device that receives input of a work area,
The control device includes a work area boundary calculation unit that extracts the boundary on which the partition object should be placed from among the boundaries of the work area.
Field monitoring equipment. The site monitoring device according to claim 3,
Equipped with a machine position detection device that detects the position of the work machine,
The control device includes a determination command unit that causes the determination unit to perform determination processing,
The determination command unit does not cause the determination unit to execute determination processing when the work machine is not positioned within the work area.
Field monitoring equipment. The site monitoring device according to claim 4,
The site monitoring device, wherein the determination command unit causes the determination unit to perform determination processing when the work machine moves from outside the work area to inside the work area. The site monitoring device according to claim 3,
A site monitoring apparatus comprising a boundary selection device that receives input of information for selecting the boundary on which the partitioning object is to be placed from among the boundaries of the work area. The field monitoring device according to claim 1,
the warning device is mounted on the work machine or located at the work site;
Field monitoring equipment. The field monitoring device according to claim 1,
The partitioning object detection device is an object detection device that detects an object,
The control device comprises a partition information holding unit that stores information for identifying the partition object.
Field monitoring equipment. The field monitoring device according to claim 1,
the alert includes information to identify the unplaced boundary;
Field monitoring equipment. A site monitoring system comprising the site monitoring device according to claim 1 and a work machine,
The work machine includes an operation lever and an operation amount detection device that detects an operation amount of the operation lever,
The control device is
A determination command unit that causes the determination unit to perform determination processing when the operation amount exceeds a predetermined threshold after a state in which the operation amount is less than or equal to a predetermined threshold continues for a predetermined time or longer,
On-site monitoring system. A site monitoring system comprising the site monitoring device according to claim 1 and a work machine,
The working machine includes an operating lever,
The work machine can be in either an operable state in which it can be operated by operating the operating lever, or a work standby state in which it cannot be operated by operating the operating lever,
The site monitoring system, wherein the control device includes a determination command section that causes the determination section to execute determination processing when the work machine transitions from the work standby state to the operable state. A site monitoring system comprising the site monitoring device according to claim 1 and a work machine,
The working machine is
an operating lever;
an operation amount detection device that detects an operation amount of the operation lever;
a pilot pressure control valve that controls the pilot pressure applied to the spool of the actuator;
with
The control device is
a manipulated variable output calculation unit that determines an output value for the pilot pressure control valve based on the manipulated variable;
an output unit that outputs a control command to the pilot pressure control valve;
a current generator that generates a current for driving the pilot pressure control valve according to the control command;
with
The output unit
The output value determined by the manipulated variable output calculator when the unarranged boundary does not exist or the output value determined by the manipulated variable output calculator is equal to or less than a predetermined output upper limit value outputting the control command based on
When there is at least one unarranged boundary and the output value determined by the manipulated variable output calculation unit exceeds the predetermined output upper limit value, the output a control command,
On-site monitoring system. A site monitoring system comprising the site monitoring device according to claim 1 and a work machine,
The working machine is
an operating lever;
an operation amount detection device that detects an operation amount of the operation lever;
a movable part;
an actuator that moves the movable portion in a plurality of operating directions;
an attitude detection device that detects the attitude of the working machine;
a plurality of pilot pressure control valves for controlling pilot pressures respectively applied to opposite sides of the spool to move the spool in a direction corresponding to the operating direction of the actuator;
with
The control device is
a manipulated variable output calculation unit that determines an output value for each of the pilot pressure control valves based on the manipulated variable;
an output unit that outputs a control command for each of the pilot pressure control valves;
Whether or not the output value determined by the operation amount output calculation unit moves the movable portion in a direction approaching the unarranged boundary is determined based on the operation direction of the operation lever and the attitude. an output limit determination unit that determines by
a current generator that generates a current for driving the pilot pressure control valve according to the control command;
with
The output unit
The output value determined by the operation amount output calculation unit does not cause the movable unit to move in a direction approaching the unarranged boundary, or the output value determined by the operation amount output calculation unit is not a predetermined value. is equal to or less than the output upper limit value of, output the control command based on the output value determined by the operation amount output calculation unit,
The output value determined by the operation amount output calculation unit moves the movable unit in a direction approaching the unarranged boundary, and the output value determined by the operation amount output calculation unit is a predetermined outputting the control command based on a predetermined output upper limit when the output upper limit is exceeded;
On-site monitoring system.

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